Oms 4 usb reset debugging

qt-gui.workspace.user

@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.2.1, 2018-08-28T22:56:34. -->
+<!-- Written by QtCreator 4.2.1, 2019-04-06T16:20:47. -->
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-     <value type="QString">LD_LIBRARY_PATH=/home/ros/owr-qtgui/devel/lib:/home/ros/owr_software/rover/devel/lib:/home/ros/ros_deps/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/opt/qt57/lib/x86_64-linux-gnu:/opt/qt57/lib</value>
-     <value type="QString">PATH=/opt/ros/kinetic/bin:/opt/qt57/bin:/home/ros/bin:/home/ros/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin</value>
-     <value type="QString">PKG_CONFIG_PATH=/home/ros/owr-qtgui/devel/lib/pkgconfig:/home/ros/owr_software/rover/devel/lib/pkgconfig:/home/ros/ros_deps/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig:/opt/qt57/lib/pkgconfig</value>
-     <value type="QString">PWD=/home/ros/owr-qtgui</value>
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@@ -160,7 +131,7 @@
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src/gui/CMakeLists.txt

@@ -10,10 +10,10 @@ project(gui)
 ##############################################################################
 
 # qt_build provides the qt cmake glue, roscpp the comms for a default talker
-find_package(catkin REQUIRED COMPONENTS qt_build roscpp sensor_msgs image_transport ros_video_components owr_messages)
+find_package(catkin REQUIRED COMPONENTS qt_build roscpp sensor_msgs image_transport ros_video_components owr_messages usb_reset)
 set(QML_IMPORT_PATH "${QML_IMPORT_PATH};${CATKIN_GLOBAL_LIB_DESTINATION}" )
 set(QML_IMPORT_PATH2 "${QML_IMPORT_PATH};${CATKIN_GLOBAL_LIB_DESTINATION}" )
-include_directories(${catkin_INCLUDE_DIRS})
+include_directories(${catkin_INCLUDE_DIRS}; usb_reset)
 # Use this to define what the package will export (e.g. libs, headers).
 # Since the default here is to produce only a binary, we don't worry about
 # exporting anything.

src/gui/package.xml

@@ -47,6 +47,8 @@
     <build_depend>sensor_msgs</build_depend>
     <build_depend>libqt4-dev</build_depend>
     <build_depend>ros_video_components</build_depend>
+    <build_depend>usb_reset</build_depend>
+    <run_depend>usb_reset</run_depend>
     <run_depend>ros_video_components</run_depend>
     <run_depend>qt_build</run_depend>
     <run_depend>image_transport</run_depend>

src/gui/resources/main_window.qml

@@ -1,6 +1,7 @@
 import QtQuick 2.5
 import QtQuick.Window 2.2
 import bluesat.owr 1.0
+import QtQuick.Controls 1.4
 
 
 
@@ -73,6 +74,7 @@ Window {
 
     Item {
         id: signal_strength_container
+        width: 173
         z: 4
         anchors.right: parent.right
         anchors.rightMargin: 0
@@ -233,4 +235,50 @@ Window {
         height: 80
 
     }
+
+
+
+    Item {
+        id: usb_reset_container
+        z: 5
+        anchors.right: parent.right
+        anchors.rightMargin: 0
+        anchors.top: parent.top
+        anchors.topMargin: 80
+        anchors.left: parent.right
+        anchors.leftMargin: -700
+        anchors.bottom: parent.top
+        anchors.bottomMargin: -300
+        ROSUsbReset {
+            signal recieved(int upd)
+            // @disable-check M16
+            objectName: "usb_reset"
+            id: usb_reset
+            // @disable-check M16`
+            anchors.bottom: parent.bottom
+            // @disable-check M16
+            anchors.bottomMargin: 0
+            // @disable-check M16
+            anchors.top: parent.top
+            // @disable-check M16
+            anchors.left: parent.left
+            // @disable-check M16
+            anchors.right: parent.right
+            // @disable-check M16
+            topic: qsTr("/rover/usb")
+            ListView {
+                model: usbDevices
+                id: list
+                width: 500
+                height: 1000
+                spacing: 10
+                delegate: Button {text: "Reset"
+                    onClicked: {
+                        usb_reset.publish(index)
+                    }
+                }
+            }
+        }
+
+    }
 }

src/gui/src/main_application.cpp

@@ -8,6 +8,7 @@
 #include "ros_video_components/ros_joystick_listener.hpp"
 #include "ros_video_components/ros_drive_mode.hpp"
 #include "gui/main_application.hpp"
+#include "usb_reset/usb_reset.hpp"
 
 Main_Application::Main_Application() {}
 
@@ -19,6 +20,7 @@ void Main_Application::run() {
     qmlRegisterType<ROSTimer>("bluesat.owr", 1, 0, "ROSTimer");
     qmlRegisterType<Ros_Joystick_Listener>("bluesat.owr", 1, 0, "ROSJoystickListener");
     qmlRegisterType<Ros_Drive_Mode>("bluesat.owr", 1, 0, "ROSDriveMode");
+    qmlRegisterType<ROS_Usb_Reset>("bluesat.owr", 1, 0, "ROSUsbReset");
 
     // this loads the qml file we are about to create
     this->load(QUrl(QStringLiteral("qrc:/main_window.qml")));
@@ -48,6 +50,10 @@ void Main_Application::run() {
     Ros_Drive_Mode * drive_mode = this->rootObjects()[0]->findChild<Ros_Drive_Mode*>(QString("drive_mode"));
     drive_mode->setup(&nh);
 
+    //this->rootContext passes the root context of main_window.qml
+    ROS_Usb_Reset * usb_reset = this->rootObjects()[0]->findChild<ROS_Usb_Reset*>(QString("usb_reset"));
+    usb_reset->setup(&nh, this->rootContext());
+
     // setup the timer
     ROSTimer * stopwatch = this->rootObjects()[0]->findChild<ROSTimer *>(QString("timerDisplay"));
     // the following code section is for debugging

src/owr_messages/CMakeLists.txt

@@ -51,7 +51,19 @@ find_package(catkin REQUIRED COMPONENTS
  add_message_files(
    FILES
    activeCameras.msg
+   camera_angle.msg
+   motor.msg
+   status.msg
    stream.msg
+   position.msg
+   voltage.msg
+   ultrasonic.msg
+   heading.msg
+   pwm.msg
+   board.msg
+   adc.msg
+   stop.msg
+   devices.msg
  )
 
 ## Generate services in the 'srv' folder

src/owr_messages/msg/adc.msg

@@ -0,0 +1,3 @@
+Header header
+float32[] pot
+string[] potFrame

src/owr_messages/msg/board.msg

@@ -0,0 +1,2 @@
+pwm[] joints
+Header header

src/owr_messages/msg/camera_angle.msg

@@ -0,0 +1,3 @@
+geometry_msgs/Vector3     angle
+int32       feed_number
+

src/owr_messages/msg/devices.msg

@@ -0,0 +1 @@
+string[] devices

src/owr_messages/msg/heading.msg

@@ -0,0 +1 @@
+float64  heading

src/owr_messages/msg/camera_angle~ → src/owr_messages/msg/motor.msg

@@ -1,3 +1,3 @@
-Vector3     angle
-Int32       feed_number
+float64     angle
+int32       motor_number
 

src/owr_messages/msg/position.msg

@@ -0,0 +1,35 @@
+# Message that reports the position, and orientation of the robot
+# Location specified using the WGS 84 reference ellipsoid
+
+#Based on the NavSatFix message here: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html
+
+
+# Latitude [degrees]. Positive is north of equator; negative is south.
+float64 latitude
+
+# Longitude [degrees]. Positive is east of prime meridian; negative is west.
+float64 longitude
+
+
+# Altitude [m]. Positive is above the WGS 84 ellipsoid
+# (quiet NaN if no altitude is available).
+float64 altitude
+
+#The orientation of the front of the rover
+#relative to grid North on the WGS 84 datum
+#where 0 deg is Grid North
+float64 orientation
+
+#The pitch of the robot (facing forward), in degrees.
+#0 being level to the horizon, and positive being facing above the horizon (nose up)
+#rotation is around the centre of the robot
+float64 pitch
+
+#The roll of the robot (forward facing)
+#0 deg is level with the horizon, Positive is left up
+float64 roll
+
+#The heading relative to the grid north. (WGS 84)
+float64 heading
+
+

src/owr_messages/msg/pwm.msg

@@ -0,0 +1,6 @@
+string joint
+int32 pwm
+float64 targetVel
+float64 currentVel
+float64 currentPos
+float64 targetPos

src/owr_messages/msg/status.msg

@@ -0,0 +1,2 @@
+float32     battery
+float32     signal

src/owr_messages/msg/stop.msg

@@ -0,0 +1,2 @@
+bool stopP
+bool stopN

src/owr_messages/msg/ultrasonic.msg

@@ -0,0 +1 @@
+int64[] pulseTime #pulse in microseconds (uS)

src/owr_messages/msg/voltage.msg

@@ -0,0 +1 @@
+float32 voltage

src/ros_video_components/package.xml

@@ -40,21 +40,21 @@
   <!--   <run_depend>message_runtime</run_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>qt_build</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>libqt4-dev</build_depend>
-  <build_depend>owr_messages</build_depend>
 
-  <run_depend>qt_build</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>libqt4-dev</run_depend>
-  <run_depend>owr_messages</run_depend>
+<buildtool_depend>catkin</buildtool_depend>
+<build_depend>qt_build</build_depend>
+<build_depend>roscpp</build_depend>
+<build_depend>image_transport</build_depend>
+<build_depend>sensor_msgs</build_depend>
+<build_depend>libqt4-dev</build_depend>
+<build_depend>owr_messages</build_depend>
 
+<run_depend>qt_build</run_depend>
+<run_depend>image_transport</run_depend>
+<run_depend>sensor_msgs</run_depend>
+<run_depend>roscpp</run_depend>
+<run_depend>libqt4-dev</run_depend>
+<run_depend>owr_messages</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>